#ifndef MATH_PLUS_
#define MATH_PLUS_

#include "zf_common_typedef.h"
#include "matrix.h"


#define MIN(a, b) (((a) < (b)) ? (a) : (b))
#define MAX(a, b) (((a) > (b)) ? (a) : (b))
#define MINMAX(input, low, upper) MIN(MAX(input, low), upper)
#define ABS(X) (X >= 0 ? X : -X)

float invSqrt(float x) ;
void quaternionMult(struct matrix* self,matrix_data_type* mat);
void sincosf_poly(float x, float* sinx, float* cosx);
#endif
